RU2392575C2 - Self-homing device - Google Patents

Abstract

FIELD: physics, navigation.

SUBSTANCE: invention relates to navigation equipment and is primarily meant for solving the problem of self-homing through constant-bearing approach of short-term interacting small aircraft. The device has an antenna, a radar set, a timer and a control device. There are two evaluators, an electronic switch, two memory units, a logic device and a control device. The antenna is connected to the first input of the radar set whose output is connected to the first inputs of the first evaluator and the first memory unit. The output of the first evaluator is connected to the first input of the second evaluator and to series-connected electronic switch and second memory unit, the output of which is connected to the second input of the first evaluator, whose output is connected through the first input of the logic device to the input of the control device. A standard one signal is transmitted to the second input of the logic device. The output of the control device is the output of the entire device. The radar set, whose second input is connected to the output of the timer, can be a range finder of a Doppler frequency measuring device.

EFFECT: simple design and broadening options for controlling kinematic motion through constant-bearing approach.

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Description

The proposed homing device relates to navigation technology and is intended mainly for solving homing problems by the method of parallel approximation of short-term interacting small-sized aircraft.

The problem of controlling mutual movement in the space of objects arises in many practical cases. For example, the homing process using the parallel approach method is often necessary at the final stages of controlling the movement of short-term interacting objects when meeting aerospace objects for the purpose of docking, emergency assistance, controlling the mechanism of the object itself to achieve the ultimate goal - bringing the docking devices into working condition, issuing commands telemetry system, etc. (see Kogan I.M. Near Radar. Theoretical Foundations. M: Sov. Radio, 1973, 272 pp.).

Despite the fact that the search for ways of homing small-sized unmanned aerial vehicles, such as, for example, ammunition (missiles) of the "ground-to-air", "air-to-air" class, etc., has been going on for decades since the beginning of their development, however less so far, the problem of creating a homing device using the parallel approach method has not been solved (see Locke A.S. Projectile control. Translation from English. M .: State ed. FML, 1958, 775 pp.).

There are various homing devices that use the solution of the problem of controlling the flight path of aircraft by the method of parallel approach, described in the literature:

1) L.S. Gutkin, Yu.P. Borisov, A.A. Valuev and others. Radio control of rockets and spacecraft. / Under the general. ed. L.S. Gutkina. M .: Sov. radio. 1968, 680 p. (p. 116).

2) Maximov M.V., Gorgonov G.I. Radio control of missiles. Owls radio. M .: 1964, 644 p.

3) Volkovsky S.A., Onoprienko E.I., Savinov V.A. Radio control systems for aircraft. M.: Mechanical Engineering, 1972, 408 p.

4) Berezin L.V., Weitsel V.A., Volkovsky S.A. and other fundamentals of radio control. Textbook for universities. / Ed. V.A. Weitzel, V.N. Tipugina. M .: Sov. Radio, 1973, 464 p.

5) Patent No. 1301041 (England). Homing device. MKI F41G.

6) Patent No. 23235897 (France). Missile guidance system. Claim 09.24.75, publ. 05/27/77. MKI F41G; and others.

Of the known closest in technical essence is a homing device described in the literature:

1. L.S. Gutkin, Yu.P. Borisov, A.A. Valuev and others. Radio control of rockets and spacecraft. / Under the general. ed. L.S. Gutkina. M .: Sov. Radio, 1968, 680 p. (p.116) (prototype).

Such a homing device includes: an antenna, a radar, a timer, a gyroscope, a stabilized platform, an initial installation motor, a goniometer radio sensor and a control device. In such a homing device, according to the command post, the initial installation motor mounts the antenna on a stabilized platform so that the axis of its equal-signal area coincides with the direction to the target. In the initial homing process, the radar, on a command from the timer, together with the gyroscope measures the angle of deviation of the direction to the target from the direction of the antenna signal area. The error signal from the radar output is fed to a control device that corrects the rocket's trajectory.

However, such a relatively complex and cumbersome system can hardly be implemented in small-sized devices, which include ammunition of limited volumes. Therefore, the main problem arises of creating a homing device by the method of parallel approximation of ammunition of limited volumes.

The technical result of the implementation of the proposed homing device is to simplify the design and expand the ability to control the kinematics of the movement of ammunition of limited volumes by the parallel approach method.

The technical result is achieved in that in order to simplify the design and expand the ability to control the kinematics of the movement of ammunition of limited volumes by the method of parallel approximation, a device containing an antenna, a radar, a timer and a control device is characterized in that it is equipped with two calculation units, an electronic key, two memory units and a logical device, while the antenna is connected to the first input of the radar, the output of which is connected to the first input of the first calculation unit and the input of the first unit With a view to the memory, the output of the first calculation unit is connected to the first input of the second calculation unit and connected in series with the electronic key and the second memory unit, the output of which is connected to the second input of the second calculation unit, the output of which through the first input of the logic device is connected to the input of the control device, the second input of the logical device is fed a signal of a normalized unit, and the output of the control device is the output of the homing device, and the radar, the second input of which is connected with the timer output, it is made with the possibility of measuring the distance to the target or the speed of approach with it.

Figure 1 presents the structural diagram of the proposed homing device, which is indicated

1 - antenna

2 - radar,

3 - the first block of memory,

4 - the first unit of calculation,

5 - electronic key,

6 - the second memory block,

7 - the second unit of calculation,

8 - logical device

9 - control device

10 - timer.

The proposed homing device comprises an antenna 1, a radar 2, a first memory unit 3, a first computing unit 4, an electronic key 5, a second memory unit 6, a second computing unit 7, a logical device 8, a control device 9, a timer 10 so that the antenna 1 connected to the first input of the radar 2, the output of which is connected to the first input of the first block of calculation 4 and the input of the first block of memory 3, the output of the first block of calculation 4 is connected to the first input of the second block of calculation 7 5 and the second memory unit 6, the output of which is connected to the second input of the second calculation unit 7, the output of which through the first input of the logic device 8 is connected to the input of the control device 9, the normalized signal of one is supplied to the second input of the logical device 8, and the output of the control the output of the entire device, and the radar 2, the second input of which is connected to the output of the timer 10, can be a measure of range or approach speed.

In the proposed homing device, radar 2 can perform one of two functions: either measure range (then radar 2 is a range finder), or measure the speed of approach (then radar 2 is a proximity speed meter according to the Doppler frequency estimate).

The start of the proposed homing device is set by the timer 10 by the command "start" (figure 1) (this command can be given, for example, when firing ammunition). As a timer 10, for example, a PIM (safety-actuating mechanism) PIM radio fuse (with a clock mechanism) can be used (see A. N. Dorofeev, Missile Fuses. M: Military Publishing House of the USSR Ministry of Defense, 1963, 86 pp. And other).

Consider the work of the proposed homing device.

It is known (see L.S. Gutkin, Yu.P. Borisov, A.A. Valuev, and others. Radio control of rockets and spacecraft. / Under the general editorship of L.S. Gutkin. M: Sov. Radio, 1968, 680 pp. And others) that the method of parallel homing of ammunition (for example, a missile) on a target is that the velocity vector of the rocket (P) at each moment of time is directed to a pre-empted point (A), the position of which corresponds to this point in time (figure 2).

Figure 2 presents a picture of the interaction of the ammunition (P) and the target (C) in the meridional plane (along the construction axis of the ammunition) when homing by the parallel approach method. With this homing, the direction vector “ammunition-target” (RC) maintains a constant direction in space, i.e. moves parallel to itself, and the measured distance of the ammunition target (RC) for the same discrete time Δt, changes by some constant value ΔR.

The set of geometric points characterizing the position of the target in the equatorial plane (the plane perpendicular to the axis of the munition), forms a spiral line (figure 3) centered at the location of the munition (at point P). This form of the possible position of the target in the equatorial plane confirms the possibility of practical implementation of the parallel approach method for any spatial interaction of the ammunition and the target, which allows us to consider their interaction in one, for example, the meridional plane, without violating the generality of the principle (see 1) Patent No. 1301041 (England ) Homing device. MKI F41G; 2) Patent No. 23235897 (France). Missile guidance system. Declared 24.09.75, publ. 05.27.77, MKI F41G).

и при этом угловая скорость перемещения равна нулю. Если при самонаведении это условие соблюдается, тогда согласно теореме Фалеса (см. Алтынов П.И., Баврин И.И., Бойченко Е.М. Математика. Большой справочник. М.: Изд. Дрофа, 2004, 848 с.) имеем:Thus, when homing by the parallel approach method, the line of sight (distance vector RC = R) between the ammunition and the observed target with each current measurement moves parallel to itself, so

and the angular velocity of the motion is zero. If this condition is met during homing, then according to the Thales theorem (see Altynov P.I., Bavrin I.I., Boychenko E.M. Mathematics. A large reference book. M .: Publishing House Drofa, 2004, 848 pp.) :

откуда

where from

where C ₁ C ₂ - the distance between the individual points of C ₁ and C _{2 the} trajectory of the movement of an air target;

P ₁ P ₂ - the distance between the individual points P ₁ and P _{2 the} trajectory of the munition.

It is assumed that for sufficiently small values of the time Δt during homing, the values of the target and ammunition velocities remain constant V _c = const and V _p = const, and the measurement of distances R ₁ , R ₂ , R ₃ , ..., R _{n is} carried out discretely at regular intervals time Δt.

Then, under these conditions, distances, for example, Ts ₁ Ts ₂ and P ₁ P ₂ , will respectively be equal to Ts ₁ Ts ₂ = V _c Δt and P ₁ P ₂ = V _p Δt, whence

.

.

From the last expression it follows that with a constant velocity of approach of the rocket V _p = const and the target V _c = const, there is a constancy of the magnitude of relations as measured ranges

,

,

and approach speeds

.

.

With a constant speed of the rocket and the target, of course, their resulting velocity V _rts will also be a constant value.

Then we have

,

,

,Where

,

V _sb - the radial component of the velocity vector V _rts .

Then the value of α _V is determined by the relation

.

.

Thus, in the proposed homing device, the mismatch parameter can be selected one of two values: either rangefinder α _R or high-speed α _V.

.The rangefinder mismatch parameter α _R characterizes the numerical value of the ratio of the values R _{i of the} measured distance between the ammunition and the target at the current time t _i and R _i-1 is the measured distance between the ammunition and the target at the previous time t _i-1 , and is determined by the expression

.

The approximation mismatch parameter α _V characterizes the numerical value of the ratio of the values of the measured ammunition rapprochement rates with the goal of V _si at the current time t _i and at the preceding t _i-1 current time point V _{si i-1} .

Then the mismatch parameter α _V of the approach speed in general is determined by the expression

.

.

We accept that the air target (C), having a concentrated character (see Kogan I.M. Near Radar. Theoretical Foundations. M: Sov. Radio, 1973, 272 p.). moves at a speed of V _c , and the ammunition moves at a speed of V _p . Then, as noted earlier, when firing and accurately guiding the ammunition using the parallel approach method, the ammunition comes into contact with the target at a certain anticipated point A (Fig. 2) (or, at least, they can meet in a certain area of space around this point And with a valid minimum range radius).

The further work of the proposed homing device (Fig. 1) will be considered in two versions: when measuring by radar 2 of range R and when measuring by radar 2 of approach speed V _sb .

Consider option 1.

Radar 2 is a range meter (rangefinder).

.At the initial moment of time t _0, by an external start command (for example, by a command from a temporary safety-actuating device of a radio fuse) from timer 10, the distance R ₀ between the ammunition and the target by radar 2 is measured. The data of this first measurement is recorded in the first memory block 3 . at a next time t ₁ so the radar 2 measures the distance between the warhead and the target R _1, which value is supplied as a first calculating unit 4 and simultaneously written in the first storage unit 3, displacing from n th value of the previous distance R _0, which in turn is supplied to the second input of the first calculation unit 4, and wherein the calculation performed relationship

.

, которое затем поступает во второй блок вычисления 7, куда из блока памяти 6 подается хранимое значение α₁. Во втором блоке вычисления 7 определяется отношение

, которое поступает в логическое устройство 8, в котором происходит сравнение величины b_i с сигналом нормированной единицы «1». С выхода логического устройства 8 сигнал поступает на вход устройства управления 9, которое в зависимости от значений величин b_i>1 или b_i<1 подает соответствующую команду на исполнительные органы управления движением боеприпаса (например, «влево» или «направо»). Такая команда подается при маневре цели либо боеприпаса, т.е. при взаимном изменении траектории полета, при котором нарушаются условия метода самонаведения. При этом линии визирования ЦР начиная с момента маневра, например, когда маневрирующая цель находится в точке Д (фиг.4), не будут отличаться между собой на ранее определенную постоянную величину ΔRThen, the signal from the first block of calculation 4 turns on the electronic key 5 and through it the value α ₁ from the output of the first block of calculation 4 is written to the second block of memory 6, after which the electronic key 5 is turned off and is not involved in further operation of the device. At a subsequent point in time t _{2, the} radar 2 measures the distance between the ammunition and the target R ₂ , which enters the first calculation unit 4, in which the ratio of the measured previous R ₁ and current R ₂ ranges is determined

, which then enters the second block of calculation 7, where the stored value α ₁ is supplied from the memory block 6. In the second block of calculation 7, the relation

, which enters the logical device 8, in which the value of b _i is compared with the signal of the normalized unit “1”. From the output of the logical device 8, the signal is fed to the input of the control device 9, which, depending on the values of b _i > 1 or b _i <1, sends a corresponding command to the executive bodies for controlling the movement of ammunition (for example, “left” or “right”). Such a command is given when maneuvering a target or ammunition, i.e. with a mutual change in the flight path, in which the conditions of the homing method are violated. In this case, the line of sight of the CR starting from the moment of maneuver, for example, when the maneuvering target is at point D (Fig. 4), will not differ from each other by a previously determined constant value ΔR

those. inequality appears

and while the line of sight of the CR between themselves will not be parallel:

.

.

Thus, in the rangefinder variant of radar 2, the mismatch parameter is α _R , which characterizes the numerical value of the ratio of the measured current distance R _i to the distance value of the previous measurement R _i-1

.

.

, а относительная ошибка будет

.The absolute error of the homing system when measuring range, due to a change in the trajectory of the target or ammunition, will be

, and the relative error will be

.

With an unmistakable homing of ammunition by the method of parallel approximation, δR = 0 and Z = 1.

, так как R₄>R₃ и ΔR₄≠ΔR₃,Figure 4 shows that if a change in the trajectory of the target’s movement occurred, for example, at point D, then with a constant path of movement of the ammunition (P), the relative error starting from this point (D) is not equal to unity, i.e.

since R ₄ > R ₃ and ΔR ₄ ≠ ΔR ₃ ,

as recorded by the logical device (8), from which the signal of the mismatch of the measured values is supplied to the munition movement control device (9). Therefore, when measuring unequal ranges of R, we have, for example, R ₃ -R ₄ ≠ R ₂ -R ₃ , i.e. ΔR _i-1 ≠ ΔR _i , as a result of which a command is sent from the logic device (8) to the control device (9), which changes the trajectory of the munition in such a way as to ensure the homing condition by the parallel approach method, i.e. ΔR _i-1 = ΔR _i .

Therefore, the values of δR and Z, characterizing the error of the trajectory guidance at the i-th point of the trajectory, can be the values necessary to control the homing system. The signs “+” or “-” at δR and the values 1 <Z> 1 characterize the direction of the actual trajectory of the ammunition and the target with respect to the trajectory during error-free (accurate) guidance.

Consider option 2.

Radar 2 is a proximity speed meter (Doppler frequency meter).

It was previously established that as a parameter of the mismatch during the self-guidance of ammunition by the method of parallel approach, there can be a speed of approach of objects V _sb , determined by radar 2 through an estimate of the Doppler frequency.

Taking into account the wavelength λ of the emitted signal by radar 2, the approach speed of the objects V _sb is a value directly proportional to the Doppler frequency (see Kogan I.M. Near Radar. Theoretical Foundations. M: Sov. Radio, 1973, 272 pp.), So

, откуда

.

from where

.

Therefore, in the proposed homing device, an estimate of the approach speed, which is a mismatch parameter, can be reduced to determining the Doppler frequency F _{d by the} radar 2.

When homing by the method of parallel approach and constant speeds of both the target (V _c = const) and the ammunition (V _p = const) for equal time intervals Δt, the target and ammunition respectively go the way:

P₀P₁=P_iP_i-1=V_pΔt,

P ₀ P ₁ = P _i P _i-1 = V _p Δt,

.where i = 0, 1, 2, ... n, and the line of sight C ₀ C ₁ = C ₀ C _i-1 = V _c Δt (Fig. 5) at any time from the start of homing t ₀ until the moment the ammunition meets will be parallel to each other, i.e.

.

As can be seen from _figure 5 and _figure 6, the convergence rate of the ammunition with a target of V _sbl is determined by the angle of sight β ₀ and the total velocity of “ammunition-target” V _rts . If the observed condition of constant movement velocity of the munition and the target, whereas the radial component of the total velocity "ammo-purpose» V _SBL is constant in each i-th point trajectory V _SBL = V _pq cosβ ₀ = const, since the angles β ₀ between the line Sights on the target and on the lead point A for all measurements will be equal, i.e. β ₀ = β ₁ = ... = β _n . Therefore, when homing by the parallel approach method, the Doppler frequency F _di at each point of the munition trajectory will also be constant and equal to

When maneuvering a target or ammunition, the viewing angle β ₀ changes, for example, to β _γ (Fig. 6), which will lead to a change, firstly, of the resulting velocity of the target missile V _rts , and, secondly, the value of the radial component this altered speed V _sb , which ultimately leads to a change in the Doppler frequency F ^' _{di + 1} .

In this case, the value ΔF _d = F _di -F ^' _{di + 1} is a measure of the mismatch of the trajectory of the munition homing by the parallel approach method. Then the signal at the output of the radar 2 is characterized by the Doppler frequency. + Sign or

“-” at ΔF _d corresponds to the direction of change of the munition trajectory.

Subsequently, when the radar 2 performs the functions of a Doppler frequency meter, the operation of the proposed device (Fig. 1) is similar to that described above, when considering measurements by a 2-range radar.

The above two options for the operation of the homing device, in which the radar 2 (Fig. 1) acts as a range finder or proximity meter, indicate that when using radar 2 as a range finder or Doppler frequency meter, the functional operation of the proposed homing device as a whole will be the same , bearing in mind that at the output of radar 2, the mismatch parameter in the rangefinder variant is the distance parameter between the ammunition and the target, and in the frequency variant e - the rate of convergence between them.

The proposed device homing parallel approach differs from the known simplicity of the technical implementation of the movement control of ammunition of a limited volume.

In munitions of limited volumes, radio fuses are widely used (see 1) Gutkin L.S., Borisov Yu.P., Valuev A.A. et al. Radio control of rockets and spacecraft. / Under the general. ed. L.S. Gutkina. M .: Sov. Radio, 1968, 680 p .; 2) Dorofeev A.N. Rocket fuses. M .: Military ed. Ministry of Defense of the USSR, 1963, 86 pp.), Therefore, in the proposed homing device as a radar 2 to estimate the mismatch parameter (range or approach speed), the radio path of the munition radio fuse can be used. Using, for example, a radio path of a pulsed or frequency radio fuse, radar 2 (Fig. 1) can be implemented as a range finder, and when using, for example, a radio path of an autodyne radio fuse, radar 2 (Fig. 1) can be implemented as an approach speed meter through measurements of Doppler frequencies. In addition, with regard to ammunition, the proposed homing device allows you to use a radio fuse of ammunition by using its other elements, such as a transmit-receive antenna and a safety-actuating mechanism (as a timer).

In addition to the above, the remaining elements of the proposed homing device can be implemented by well-known and widely used in electronic devices analog elements and integrated circuits (see Integrated circuits. Reference. / Under the general editorship of B.V. Tarabrin. M .: Publishing house. Sov. Radio , 1984).

By introducing the proposed elements and the relationships between them, the problem of creating a homing device for aircraft of limited volumes is fundamentally solved in a new way.

A fabricated model of the proposed homing device as applied to real ammunition of a limited volume of ground-to-air class, tested both in laboratory and in-situ polygon conditions, showed its operability under various and random maneuvers of an air target.

Claims (1)

The device for homing ammunition on a target by the parallel approach method, comprising an antenna, a radar, a timer and a control device, characterized in that it is equipped with two calculation units, an electronic key, two memory units and a logical device, while the antenna is connected to the first input of the radar, the output of which connected to the first input of the first calculation unit and the input of the first memory unit, the output of the first calculation unit is connected to the first input of the second calculation unit and connected in series an electronic key and a second memory unit, the output of which is connected to the second input of the second calculation unit, the output of which through the first input of the logic device is connected to the input of the control device, and a normalized unit signal is applied to the second input of the logical device, the output of the control device being the output of the homing device, and the radar, the second input of which is connected to the output of the timer, is configured to measure the range to the target or the speed of convergence with it.

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